	.file "D:\\Mes Documents\\Programmation\\Drone\\MatrixPilotQuad\\MPQpid400.X\\..\\..\\libDCM\\deadReckoning.c"
	.section	.debug_abbrev,info
.Ldebug_abbrev0:
	.section	.debug_info,info
.Ldebug_info0:
	.section	.debug_line,info
.Ldebug_line0:
	.section	.text,code
.Ltext0:
	.global	_dead_reckon_clock	; export
	.section	.ndata,data,near
	.align	2
	.type	_dead_reckon_clock,@object
_dead_reckon_clock:
	.word	220
	.global	_IMUvelocityx	; export
	.align	2
	.type	_IMUvelocityx,@object
_IMUvelocityx:
	.skip	4
	.global	_IMUvelocityy	; export
	.align	2
	.type	_IMUvelocityy,@object
_IMUvelocityy:
	.skip	4
	.global	_IMUvelocityz	; export
	.align	2
	.type	_IMUvelocityz,@object
_IMUvelocityz:
	.skip	4
	.global	_IMUlocationx	; export
	.align	2
	.type	_IMUlocationx,@object
_IMUlocationx:
	.skip	4
	.global	_IMUlocationy	; export
	.align	2
	.type	_IMUlocationy,@object
_IMUlocationy:
	.skip	4
	.global	_IMUlocationz	; export
	.align	2
	.type	_IMUlocationz,@object
_IMUlocationz:
	.skip	4
	.global	_IMUintegralAccelerationx	; export
	.align	2
	.type	_IMUintegralAccelerationx,@object
_IMUintegralAccelerationx:
	.skip	4
	.global	_IMUintegralAccelerationy	; export
	.align	2
	.type	_IMUintegralAccelerationy,@object
_IMUintegralAccelerationy:
	.skip	4
	.global	_IMUintegralAccelerationz	; export
	.align	2
	.type	_IMUintegralAccelerationz,@object
_IMUintegralAccelerationz:
	.skip	4
	.global	_air_speed_3DIMU	; export
	.align	2
	.type	_air_speed_3DIMU,@object
_air_speed_3DIMU:
	.skip	2
	.global	_total_energy	; export
	.align	2
	.type	_total_energy,@object
_total_energy:
	.skip	2
	.global	_locationErrorEarth	; export
	.align	2
	.type	_locationErrorEarth,@object
_locationErrorEarth:
	.skip	6
	.global	_velocityErrorEarth	; export
	.align	2
	.type	_velocityErrorEarth,@object
_velocityErrorEarth:
	.skip	6
	.section	.text,code
	.align	2
	.global	_dead_reckon	; export
	.type	_dead_reckon,@function
_dead_reckon:
.LFB5:
.LM1:
	.set ___PA___,1
	lnk	#14
.LM2:
	mov	_dcm_flags,w0
	mov	#32,w1
	and	w0,w1,w0
	cp0	w0
	.set ___BP___,0
	bra	z,.L2
.LM3:
	mov	_IMUintegralAccelerationx,w2
	mov	_IMUintegralAccelerationx+2,w3
	mov	_accelEarth,w1
	mov	#160,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUintegralAccelerationx
	mov	w1,_IMUintegralAccelerationx+2
.LM4:
	mov	_IMUintegralAccelerationy,w2
	mov	_IMUintegralAccelerationy+2,w3
	mov	_accelEarth+2,w1
	mov	#160,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUintegralAccelerationy
	mov	w1,_IMUintegralAccelerationy+2
.LM5:
	mov	_IMUintegralAccelerationz,w2
	mov	_IMUintegralAccelerationz+2,w3
	mov	_accelEarth+4,w1
	mov	#160,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUintegralAccelerationz
	mov	w1,_IMUintegralAccelerationz+2
.LM6:
	mov	_IMUlocationx,w2
	mov	_IMUlocationx+2,w3
	mov	_IMUintegralAccelerationx+2,w1
	mov	#52,w0
	mul.ss	w0,w1,w0
	sl	w1,#12,w4
	lsr	w0,#4,w0
	ior	w4,w0,w0
	asr	w1,#4,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUlocationx
	mov	w1,_IMUlocationx+2
.LM7:
	mov	_IMUlocationy,w2
	mov	_IMUlocationy+2,w3
	mov	_IMUintegralAccelerationy+2,w1
	mov	#52,w0
	mul.ss	w0,w1,w0
	sl	w1,#12,w4
	lsr	w0,#4,w0
	ior	w4,w0,w0
	asr	w1,#4,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUlocationy
	mov	w1,_IMUlocationy+2
.LM8:
	mov	_IMUlocationz,w2
	mov	_IMUlocationz+2,w3
	mov	_IMUintegralAccelerationz+2,w1
	mov	#52,w0
	mul.ss	w0,w1,w0
	sl	w1,#12,w4
	lsr	w0,#4,w0
	ior	w4,w0,w0
	asr	w1,#4,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUlocationz
	mov	w1,_IMUlocationz+2
.LM9:
	mov	_dead_reckon_clock,w0
	cp0	w0
	.set ___BP___,0
	bra	le,.L4
.LM10:
	mov	_dead_reckon_clock,w0
	dec	w0,w0
	mov	w0,_dead_reckon_clock
.LM11:
	mov	_IMUintegralAccelerationx,w2
	mov	_IMUintegralAccelerationx+2,w3
	mov	_velocityErrorEarth,w1
	mov	#131,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUintegralAccelerationx
	mov	w1,_IMUintegralAccelerationx+2
.LM12:
	mov	_IMUintegralAccelerationy,w2
	mov	_IMUintegralAccelerationy+2,w3
	mov	_velocityErrorEarth+2,w1
	mov	#131,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUintegralAccelerationy
	mov	w1,_IMUintegralAccelerationy+2
.LM13:
	mov	_IMUintegralAccelerationz,w2
	mov	_IMUintegralAccelerationz+2,w3
	mov	_velocityErrorEarth+4,w1
	mov	#131,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUintegralAccelerationz
	mov	w1,_IMUintegralAccelerationz+2
.LM14:
	mov	_IMUlocationx,w2
	mov	_IMUlocationx+2,w3
	mov	_locationErrorEarth,w1
	mov	#131,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUlocationx
	mov	w1,_IMUlocationx+2
.LM15:
	mov	_IMUlocationy,w2
	mov	_IMUlocationy+2,w3
	mov	_locationErrorEarth+2,w1
	mov	#131,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUlocationy
	mov	w1,_IMUlocationy+2
.LM16:
	mov	_IMUlocationz,w2
	mov	_IMUlocationz+2,w3
	mov	_locationErrorEarth+4,w1
	mov	#131,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUlocationz
	mov	w1,_IMUlocationz+2
.LM17:
	mov	_IMUintegralAccelerationx,w2
	mov	_IMUintegralAccelerationx+2,w3
	mov	_locationErrorEarth,w1
	mov	#100,w0
	mul.ss	w1,w0,w0
	mov	w0,w1
	mov	#26214,w0
	mul.us	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUvelocityx
	mov	w1,_IMUvelocityx+2
.LM18:
	mov	_IMUintegralAccelerationy,w2
	mov	_IMUintegralAccelerationy+2,w3
	mov	_locationErrorEarth+2,w1
	mov	#100,w0
	mul.ss	w1,w0,w0
	mov	w0,w1
	mov	#26214,w0
	mul.us	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUvelocityy
	mov	w1,_IMUvelocityy+2
.LM19:
	mov	_IMUintegralAccelerationz,w2
	mov	_IMUintegralAccelerationz+2,w3
	mov	_locationErrorEarth+4,w1
	mov	#100,w0
	mul.ss	w1,w0,w0
	mov	w0,w1
	mov	#26214,w0
	mul.us	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUvelocityz
	mov	w1,_IMUvelocityz+2
	bra	.L6
.L4:
.LM20:
	clr	w0
	mov	w0,_errorYawground+4
	mov	_errorYawground+4,w0
	mov	w0,_errorYawground+2
	mov	_errorYawground+2,w0
	mov	w0,_errorYawground
.LM21:
	bclr.b	_dcm_flags,#4
.LM22:
	mov	_IMUintegralAccelerationx,w0
	mov	_IMUintegralAccelerationx+2,w1
	mov	w0,_IMUvelocityx
	mov	w1,_IMUvelocityx+2
.LM23:
	mov	_IMUintegralAccelerationy,w0
	mov	_IMUintegralAccelerationy+2,w1
	mov	w0,_IMUvelocityy
	mov	w1,_IMUvelocityy+2
.LM24:
	mov	_IMUintegralAccelerationz,w0
	mov	_IMUintegralAccelerationz+2,w1
	mov	w0,_IMUvelocityz
	mov	w1,_IMUvelocityz+2
.L6:
.LM25:
	call	_gps_nav_valid
	cp0.b	w0
	.set ___BP___,0
	bra	z,.L10
	mov	_dcm_flags,w0
	mov	#64,w1
	and	w0,w1,w0
	cp0	w0
	.set ___BP___,0
	bra	z,.L10
.LM26:
	bclr.b	_dcm_flags,#6
.LM27:
	mov	#220,w0
	mov	w0,_dead_reckon_clock
.LM28:
	mov	_GPSlocation,w1
	mov	_IMUlocationx+2,w0
	sub	w1,w0,w0
	mov	w0,_locationErrorEarth
.LM29:
	mov	_GPSlocation+2,w1
	mov	_IMUlocationy+2,w0
	sub	w1,w0,w0
	mov	w0,_locationErrorEarth+2
.LM30:
	mov	_GPSlocation+4,w1
	mov	_IMUlocationz+2,w0
	sub	w1,w0,w0
	mov	w0,_locationErrorEarth+4
.LM31:
	mov	_GPSvelocity,w1
	mov	_IMUintegralAccelerationx+2,w0
	sub	w1,w0,w0
	mov	w0,_velocityErrorEarth
.LM32:
	mov	_GPSvelocity+2,w1
	mov	_IMUintegralAccelerationy+2,w0
	sub	w1,w0,w0
	mov	w0,_velocityErrorEarth+2
.LM33:
	mov	_GPSvelocity+4,w1
	mov	_IMUintegralAccelerationz+2,w0
	sub	w1,w0,w0
	mov	w0,_velocityErrorEarth+4
	bra	.L10
.L2:
.LM34:
	mul.uu	w0,#0,w0
	mov	w0,_IMUintegralAccelerationx
	mov	w1,_IMUintegralAccelerationx+2
.LM35:
	mul.uu	w0,#0,w0
	mov	w0,_IMUintegralAccelerationy
	mov	w1,_IMUintegralAccelerationy+2
.LM36:
	mul.uu	w0,#0,w0
	mov	w0,_IMUintegralAccelerationz
	mov	w1,_IMUintegralAccelerationz+2
.LM37:
	mul.uu	w0,#0,w0
	mov	w0,_IMUvelocityx
	mov	w1,_IMUvelocityx+2
.LM38:
	mul.uu	w0,#0,w0
	mov	w0,_IMUvelocityy
	mov	w1,_IMUvelocityy+2
.LM39:
	mul.uu	w0,#0,w0
	mov	w0,_IMUvelocityz
	mov	w1,_IMUvelocityz+2
.LM40:
	mul.uu	w0,#0,w0
	mov	w0,_IMUlocationx
	mov	w1,_IMUlocationx+2
.LM41:
	mul.uu	w0,#0,w0
	mov	w0,_IMUlocationy
	mov	w1,_IMUlocationy+2
.LM42:
	mul.uu	w0,#0,w0
	mov	w0,_IMUlocationz
	mov	w1,_IMUlocationz+2
.L10:
.LM43:
	mov	_IMUvelocityx+2,w1
	mov	_estimatedWind,w0
	sub	w1,w0,w0
	mov	w0,[w14+4]
.LM44:
	mov	_IMUvelocityy+2,w1
	mov	_estimatedWind+2,w0
	sub	w1,w0,w0
	mov	w0,[w14+2]
.LM45:
	mov	_IMUvelocityz+2,w1
	mov	_estimatedWind+4,w0
	sub	w1,w0,[w14]
.LM46:
	mov	[w14],w2
	mov	[w14+2],w1
	mov	[w14+4],w0
	call	_vector3_mag
	mov	w0,_air_speed_3DIMU
.LM47:
	mov	[w14+4],w1
	mov	#-27659,w0
	mul.su	w1,w0,w0
	mov	w0,[w14+6]
	mov	w1,[w14+8]
.LM48:
	mov	[w14+8],w1
	mov	[w14+8],w0
	mul.ss	w0,w1,w0
	mov	w0,[w14+10]
	mov	w1,[w14+12]
.LM49:
	mov	[w14+2],w1
	mov	#-27659,w0
	mul.su	w1,w0,w0
	mov	w0,[w14+6]
	mov	w1,[w14+8]
.LM50:
	mov	[w14+10],w2
	mov	[w14+12],w3
	mov	[w14+8],w1
	mov	[w14+8],w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,[w14+10]
	mov	w1,[w14+12]
.LM51:
	mov	#-27659,w0
	mov	[w14],w2
	mul.su	w2,w0,w0
	mov	w0,[w14+6]
	mov	w1,[w14+8]
.LM52:
	mov	[w14+10],w2
	mov	[w14+12],w3
	mov	[w14+8],w1
	mov	[w14+8],w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,[w14+10]
	mov	w1,[w14+12]
.LM53:
	mov	[w14+10],w2
	mov	[w14+12],w3
	mov	_IMUlocationz,w0
	mov	_IMUlocationz+2,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,[w14+10]
	mov	w1,[w14+12]
.LM54:
	mov	[w14+12],w0
	mov	w0,_total_energy
.LM55:
	ulnk	
	return	
	.set ___PA___,0
.LFE5:
	.global	_IMUcmx	; export
	.section	.ndata,data,near
	.align	2
	.type	_IMUcmx,@object
_IMUcmx:
	.skip	4
	.global	_IMUcmy	; export
	.align	2
	.type	_IMUcmy,@object
_IMUcmy:
	.skip	4
	.global	_IMUcmz	; export
	.align	2
	.type	_IMUcmz,@object
_IMUcmz:
	.skip	4
	.global	_IMUvx	; export
	.align	2
	.type	_IMUvx,@object
_IMUvx:
	.skip	4
	.global	_IMUvy	; export
	.align	2
	.type	_IMUvy,@object
_IMUvy:
	.skip	4
	.global	_IMUvz	; export
	.align	2
	.type	_IMUvz,@object
_IMUvz:
	.skip	4
	.global	_integralAccelx	; export
	.align	2
	.type	_integralAccelx,@object
_integralAccelx:
	.skip	4
	.global	_integralAccely	; export
	.align	2
	.type	_integralAccely,@object
_integralAccely:
	.skip	4
	.global	_integralAccelz	; export
	.align	2
	.type	_integralAccelz,@object
_integralAccelz:
	.skip	4
	.global	_cmErrorEarth	; export
	.align	2
	.type	_cmErrorEarth,@object
_cmErrorEarth:
	.skip	6
	.global	_velErrorEarth	; export
	.align	2
	.type	_velErrorEarth,@object
_velErrorEarth:
	.skip	6
	.global	_integrate_clock	; export
	.align	2
	.type	_integrate_clock,@object
_integrate_clock:
	.word	220
	.section	.text,code
	.align	2
	.global	_integrate_loc_cm	; export
	.type	_integrate_loc_cm,@function
_integrate_loc_cm:
.LFB6:
.LM56:
	.set ___PA___,1
	lnk	#0
.LM57:
	mov	_dcm_flags,w0
	mov	#32,w1
	and	w0,w1,w0
	cp0	w0
	.set ___BP___,0
	bra	z,.L13
.LM58:
	mov	_integralAccelx,w2
	mov	_integralAccelx+2,w3
	mov	_accelEarth,w1
	mov	#160,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_integralAccelx
	mov	w1,_integralAccelx+2
.LM59:
	mov	_integralAccely,w2
	mov	_integralAccely+2,w3
	mov	_accelEarth+2,w1
	mov	#160,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_integralAccely
	mov	w1,_integralAccely+2
.LM60:
	mov	_integralAccelz,w2
	mov	_integralAccelz+2,w3
	mov	_accelEarth+4,w1
	mov	#160,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_integralAccelz
	mov	w1,_integralAccelz+2
.LM61:
	mov	_IMUcmx,w2
	mov	_IMUcmx+2,w3
	mov	_integralAccelx+2,w1
	mov	#32767,w0
	mul.ss	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUcmx
	mov	w1,_IMUcmx+2
.LM62:
	mov	_IMUcmy,w2
	mov	_IMUcmy+2,w3
	mov	_integralAccely+2,w1
	mov	#32767,w0
	mul.ss	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUcmy
	mov	w1,_IMUcmy+2
.LM63:
	mov	_IMUcmz,w2
	mov	_IMUcmz+2,w3
	mov	_integralAccelz+2,w1
	mov	#32767,w0
	mul.ss	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUcmz
	mov	w1,_IMUcmz+2
.LM64:
	mov	_integrate_clock,w0
	cp0	w0
	.set ___BP___,0
	bra	le,.L15
.LM65:
	mov	_integrate_clock,w0
	dec	w0,w0
	mov	w0,_integrate_clock
.LM66:
	mov	_integralAccelx,w2
	mov	_integralAccelx+2,w3
	mov	_velErrorEarth,w1
	mov	#32767,w0
	mul.ss	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_integralAccelx
	mov	w1,_integralAccelx+2
.LM67:
	mov	_integralAccely,w2
	mov	_integralAccely+2,w3
	mov	_velErrorEarth+2,w1
	mov	#32767,w0
	mul.ss	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_integralAccely
	mov	w1,_integralAccely+2
.LM68:
	mov	_integralAccelz,w2
	mov	_integralAccelz+2,w3
	mov	_velErrorEarth+4,w1
	mov	#32767,w0
	mul.ss	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_integralAccelz
	mov	w1,_integralAccelz+2
.LM69:
	mov	_IMUcmx,w2
	mov	_IMUcmx+2,w3
	mov	_cmErrorEarth,w1
	mov	#32767,w0
	mul.ss	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUcmx
	mov	w1,_IMUcmx+2
.LM70:
	mov	_IMUcmy,w2
	mov	_IMUcmy+2,w3
	mov	_cmErrorEarth+2,w1
	mov	#32767,w0
	mul.ss	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUcmy
	mov	w1,_IMUcmy+2
.LM71:
	mov	_IMUcmz,w2
	mov	_IMUcmz+2,w3
	mov	_cmErrorEarth+4,w1
	mov	#32767,w0
	mul.ss	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUcmz
	mov	w1,_IMUcmz+2
.LM72:
	mov	_integralAccelx,w2
	mov	_integralAccelx+2,w3
	mov	_cmErrorEarth,w1
	mov	#26214,w0
	mul.us	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUvx
	mov	w1,_IMUvx+2
.LM73:
	mov	_integralAccely,w2
	mov	_integralAccely+2,w3
	mov	_cmErrorEarth+2,w1
	mov	#26214,w0
	mul.us	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUvy
	mov	w1,_IMUvy+2
.LM74:
	mov	_integralAccelz,w2
	mov	_integralAccelz+2,w3
	mov	_cmErrorEarth+4,w1
	mov	#26214,w0
	mul.us	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_IMUvz
	mov	w1,_IMUvz+2
	bra	.L17
.L15:
.LM75:
	mov	_integralAccelx,w0
	mov	_integralAccelx+2,w1
	mov	w0,_IMUvx
	mov	w1,_IMUvx+2
.LM76:
	mov	_integralAccely,w0
	mov	_integralAccely+2,w1
	mov	w0,_IMUvy
	mov	w1,_IMUvy+2
.LM77:
	mov	_integralAccelz,w0
	mov	_integralAccelz+2,w1
	mov	w0,_IMUvz
	mov	w1,_IMUvz+2
.L17:
.LM78:
	call	_gps_nav_valid
	cp0.b	w0
	.set ___BP___,0
	bra	z,.L22
	mov	_dcm_flags,w0
	mov	#128,w1
	and	w0,w1,w0
	cp0	w0
	.set ___BP___,0
	bra	z,.L22
.LM79:
	bclr.b	_dcm_flags,#7
.LM80:
	mov	#220,w0
	mov	w0,_integrate_clock
.LM81:
	mov	_GPSloc_cm,w1
	mov	_IMUcmx+2,w0
	sub	w1,w0,w0
	mov	w0,_cmErrorEarth
.LM82:
	mov	_GPSloc_cm+2,w1
	mov	_IMUcmy+2,w0
	sub	w1,w0,w0
	mov	w0,_cmErrorEarth+2
.LM83:
	mov	_GPSloc_cm+4,w1
	mov	_IMUcmz+2,w0
	sub	w1,w0,w0
	mov	w0,_cmErrorEarth+4
.LM84:
	mov	_GPSvelocity,w1
	mov	_integralAccelx+2,w0
	sub	w1,w0,w0
	mov	w0,_velErrorEarth
.LM85:
	mov	_GPSvelocity+2,w1
	mov	_integralAccely+2,w0
	sub	w1,w0,w0
	mov	w0,_velErrorEarth+2
.LM86:
	mov	_GPSvelocity+4,w1
	mov	_integralAccelz+2,w0
	sub	w1,w0,w0
	mov	w0,_velErrorEarth+4
	bra	.L22
.L13:
.LM87:
	mul.uu	w0,#0,w0
	mov	w0,_integralAccelx
	mov	w1,_integralAccelx+2
.LM88:
	mul.uu	w0,#0,w0
	mov	w0,_integralAccely
	mov	w1,_integralAccely+2
.LM89:
	mul.uu	w0,#0,w0
	mov	w0,_integralAccelz
	mov	w1,_integralAccelz+2
.LM90:
	mul.uu	w0,#0,w0
	mov	w0,_IMUcmx
	mov	w1,_IMUcmx+2
.LM91:
	mul.uu	w0,#0,w0
	mov	w0,_IMUcmy
	mov	w1,_IMUcmy+2
.LM92:
	mul.uu	w0,#0,w0
	mov	w0,_IMUcmz
	mov	w1,_IMUcmz+2
.L22:
.LM93:
	ulnk	
	return	
	.set ___PA___,0
.LFE6:
	.section	.debug_frame,info
.Lframe0:
	.4byte	.LECIE0-.LSCIE0
.LSCIE0:
	.4byte	0xffffffff
	.byte	0x1
	.byte	0
	.uleb128 0x1
	.sleb128 2
	.byte	0x21
	.byte	0xc
	.uleb128 0xf
	.uleb128 0xfffffffc
	.byte	0x9
	.uleb128 0x21
	.uleb128 0xf
.LECIE0:
.LSFDE0:
	.4byte	.LEFDE0-.LASFDE0
.LASFDE0:
	.4byte	.Lframe0
	.4byte	.LFB5
	.4byte	.LFE5-.LFB5
.LEFDE0:
.LSFDE2:
	.4byte	.LEFDE2-.LASFDE2
.LASFDE2:
	.4byte	.Lframe0
	.4byte	.LFB6
	.4byte	.LFE6-.LFB6
.LEFDE2:
	.section	.text,code
.Letext0:
	.section	.debug_line,info
	.4byte	.LELT0-.LSLT0
.LSLT0:
	.2byte	0x2
	.4byte	.LELTP0-.LASLTP0
.LASLTP0:
	.byte	0x1
	.byte	0x1
	.byte	0xf6
	.byte	0xf5
	.byte	0xa
	.byte	0x0
	.byte	0x1
	.byte	0x1
	.byte	0x1
	.byte	0x1
	.byte	0x0
	.byte	0x0
	.byte	0x0
	.byte	0x1
	.ascii	"../../libDCM"
	.byte 0
	.ascii	"../MPQpid400.X/../../libUDB"
	.byte 0
	.ascii	"c:/program files (x86)/microchip/mplab c30/bin/bin/../../include/leg"
	.ascii	"a-c"
	.byte 0
	.ascii	"c:/program files (x86)/microchip/mplab c30/bin/bin/../../support/dsP"
	.ascii	"IC33F/h"
	.byte 0
	.ascii	"c:/program files (x86)/microchip/mplab c30/bin/bin/../../support/gen"
	.ascii	"eric/h"
	.byte 0
	.byte	0x0
	.asciz	"stdint.h"
	.uleb128 0x3
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"p33FJ256GP710A.h"
	.uleb128 0x4
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"libUDB_defines.h"
	.uleb128 0x2
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"yvals.h"
	.uleb128 0x3
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"stdlib.h"
	.uleb128 0x3
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"dsp.h"
	.uleb128 0x5
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"../libUDB/libUDB.h"
	.uleb128 0x1
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"libDCM_defines.h"
	.uleb128 0x1
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"libDCM.h"
	.uleb128 0x1
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"deadReckoning.c"
	.uleb128 0x1
	.uleb128 0x0
	.uleb128 0x0
	.byte	0x0
.LELTP0:
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM1
	.byte	0x4
	.uleb128 0xa
	.byte	0x65
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM2
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM3
	.byte	0x18
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM4
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM5
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM6
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM7
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM8
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM9
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM10
	.byte	0x18
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM11
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM12
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM13
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM14
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM15
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM16
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM17
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM18
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM19
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM20
	.byte	0x1a
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM21
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM22
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM23
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM24
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM25
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM26
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM27
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM28
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM29
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM30
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM31
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM32
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM33
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM34
	.byte	0x19
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM35
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM36
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM37
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM38
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM39
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM40
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM41
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM42
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM43
	.byte	0x19
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM44
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM45
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM46
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM47
	.byte	0x19
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM48
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM49
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM50
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM51
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM52
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM53
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM54
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM55
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM56
	.byte	0x41
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM57
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM58
	.byte	0x18
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM59
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM60
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM61
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM62
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM63
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM64
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM65
	.byte	0x18
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM66
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM67
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM68
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM69
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM70
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM71
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM72
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM73
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM74
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM75
	.byte	0x19
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM76
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM77
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM78
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM79
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM80
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM81
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM82
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM83
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM84
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM85
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM86
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM87
	.byte	0x19
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM88
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM89
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM90
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM91
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM92
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM93
	.byte	0x18
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.Letext0
	.byte	0x0
	.uleb128 0x1
	.byte	0x1
.LELT0:
	.section	.debug_info,info
	.4byte	0xa8a
	.2byte	0x2
	.4byte	.Ldebug_abbrev0
	.byte	0x4
	.uleb128 0x1
	.4byte	.Ldebug_line0
	.4byte	.Letext0
	.4byte	.Ltext0
	.asciz	"GNU C 4.0.3 (dsPIC30, Microchip v3_31) (A) Build date: Oct 27 2011"
	.byte	0x1
	.asciz	"../../libDCM/deadReckoning.c"
	.ascii	"D:\\\\Mes Documents\\\\Programmation\\\\Drone\\\\MatrixPilotQuad\\\\"
	.asciz	"MPQpid400.X"
	.uleb128 0x2
	.asciz	"signed char"
	.byte	0x1
	.byte	0x6
	.uleb128 0x2
	.asciz	"int"
	.byte	0x2
	.byte	0x5
	.uleb128 0x2
	.asciz	"long int"
	.byte	0x4
	.byte	0x5
	.uleb128 0x2
	.asciz	"long long int"
	.byte	0x8
	.byte	0x5
	.uleb128 0x2
	.asciz	"unsigned char"
	.byte	0x1
	.byte	0x8
	.uleb128 0x3
	.4byte	.LASF0
	.byte	0x2
	.byte	0x7
	.uleb128 0x2
	.asciz	"long unsigned int"
	.byte	0x4
	.byte	0x7
	.uleb128 0x2
	.asciz	"long long unsigned int"
	.byte	0x8
	.byte	0x7
	.uleb128 0x4
	.4byte	0x295
	.asciz	"tagLATDBITS"
	.byte	0x2
	.byte	0x2
	.2byte	0x9a3
	.uleb128 0x5
	.asciz	"LATD0"
	.byte	0x2
	.2byte	0x9a4
	.4byte	0x103
	.byte	0x2
	.byte	0x1
	.byte	0xf
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATD1"
	.byte	0x2
	.2byte	0x9a5
	.4byte	0x103
	.byte	0x2
	.byte	0x1
	.byte	0xe
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATD2"
	.byte	0x2
	.2byte	0x9a6
	.4byte	0x103
	.byte	0x2
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	.asciz	"LATD3"
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	.asciz	"LATD4"
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	.asciz	"LATD5"
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	.asciz	"LATD6"
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	.asciz	"LATD7"
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	.asciz	"LATD8"
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	.asciz	"LATD9"
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	.asciz	"LATD10"
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	.asciz	"LATD11"
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	.asciz	"LATD13"
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	.asciz	"LATDBITS"
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	.asciz	"tagLATEBITS"
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	.asciz	"LATE0"
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	.uleb128 0x0
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	.asciz	"LATE1"
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	.byte	0x63
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	.byte	0x65
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	.byte	0x66
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	.byte	0x68
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	.uleb128 0x16
	.asciz	"air_speed_3DIMU"
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	.byte	0x47
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	.byte	0x5
	.byte	0x3
	.4byte	_air_speed_3DIMU
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	.byte	0x48
	.4byte	0xce
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	.byte	0x3
	.4byte	_total_energy
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	.byte	0x3e
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	.byte	0x3
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	.byte	0x3f
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	.byte	0x3
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	.byte	0x40
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	.byte	0x3
	.4byte	_IMUlocationz
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	.byte	0x39
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	.byte	0x5
	.byte	0x3
	.4byte	_IMUvelocityx
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	.byte	0x3a
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	.byte	0x3
	.4byte	_IMUvelocityy
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	.byte	0x3b
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	.byte	0x3
	.4byte	_IMUvelocityz
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	.4byte	0x720
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	.byte	0x4b
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	.byte	0x3
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	.byte	0x36
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	.byte	0x3
	.4byte	_dead_reckon_clock
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	.byte	0x43
	.4byte	0x393
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	.byte	0x5
	.byte	0x3
	.4byte	_IMUintegralAccelerationx
	.uleb128 0x16
	.asciz	"IMUintegralAccelerationy"
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	.byte	0x44
	.4byte	0x393
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_IMUintegralAccelerationy
	.uleb128 0x16
	.asciz	"IMUintegralAccelerationz"
	.byte	0xa
	.byte	0x45
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	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_IMUintegralAccelerationz
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	.4byte	0x8ef
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	.uleb128 0x15
	.4byte	0x720
	.byte	0x2
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	.uleb128 0x16
	.asciz	"velocityErrorEarth"
	.byte	0xa
	.byte	0x4d
	.4byte	0x8df
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	.byte	0x5
	.byte	0x3
	.4byte	_velocityErrorEarth
	.uleb128 0x13
	.4byte	0x91b
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	.uleb128 0x14
	.byte	0x0
	.uleb128 0x12
	.asciz	"errorYawground"
	.byte	0xa
	.byte	0x4f
	.4byte	0x910
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	.byte	0x1
	.uleb128 0x16
	.asciz	"IMUcmx"
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	.byte	0xb8
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	.byte	0x5
	.byte	0x3
	.4byte	_IMUcmx
	.uleb128 0x16
	.asciz	"IMUcmy"
	.byte	0xa
	.byte	0xb9
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	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_IMUcmy
	.uleb128 0x16
	.asciz	"IMUcmz"
	.byte	0xa
	.byte	0xba
	.4byte	0x393
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_IMUcmz
	.uleb128 0x16
	.asciz	"IMUvx"
	.byte	0xa
	.byte	0xbd
	.4byte	0x393
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_IMUvx
	.uleb128 0x16
	.asciz	"IMUvy"
	.byte	0xa
	.byte	0xbe
	.4byte	0x393
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_IMUvy
	.uleb128 0x16
	.asciz	"IMUvz"
	.byte	0xa
	.byte	0xbf
	.4byte	0x393
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_IMUvz
	.uleb128 0x16
	.asciz	"integralAccelx"
	.byte	0xa
	.byte	0xc2
	.4byte	0x393
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_integralAccelx
	.uleb128 0x16
	.asciz	"integralAccely"
	.byte	0xa
	.byte	0xc3
	.4byte	0x393
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_integralAccely
	.uleb128 0x16
	.asciz	"integralAccelz"
	.byte	0xa
	.byte	0xc4
	.4byte	0x393
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_integralAccelz
	.uleb128 0x13
	.4byte	0xa15
	.4byte	0x3d4
	.uleb128 0x15
	.4byte	0x720
	.byte	0x2
	.byte	0x0
	.uleb128 0x16
	.asciz	"cmErrorEarth"
	.byte	0xa
	.byte	0xc6
	.4byte	0xa05
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_cmErrorEarth
	.uleb128 0x13
	.4byte	0xa40
	.4byte	0x3d4
	.uleb128 0x15
	.4byte	0x720
	.byte	0x2
	.byte	0x0
	.uleb128 0x16
	.asciz	"velErrorEarth"
	.byte	0xa
	.byte	0xc7
	.4byte	0xa30
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_velErrorEarth
	.uleb128 0x12
	.asciz	"GPSloc_cm"
	.byte	0xa
	.byte	0xc9
	.4byte	0x3e6
	.byte	0x1
	.byte	0x1
	.uleb128 0x16
	.asciz	"integrate_clock"
	.byte	0xa
	.byte	0xdf
	.4byte	0xce
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_integrate_clock
	.byte	0x0
	.section	.debug_abbrev,info
	.uleb128 0x1
	.uleb128 0x11
	.byte	0x1
	.uleb128 0x10
	.uleb128 0x6
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x25
	.uleb128 0x8
	.uleb128 0x13
	.uleb128 0xb
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x1b
	.uleb128 0x8
	.byte	0x0
	.byte	0x0
	.uleb128 0x2
	.uleb128 0x24
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3e
	.uleb128 0xb
	.byte	0x0
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x24
	.byte	0x0
	.uleb128 0x3
	.uleb128 0xe
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3e
	.uleb128 0xb
	.byte	0x0
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	.uleb128 0x4
	.uleb128 0x13
	.byte	0x1
	.uleb128 0x1
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	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3a
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	.uleb128 0x3b
	.uleb128 0x5
	.byte	0x0
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	.uleb128 0x5
	.uleb128 0xd
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	.uleb128 0x8
	.uleb128 0x3a
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	.uleb128 0x49
	.uleb128 0x13
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	.uleb128 0x38
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	.uleb128 0x16
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	.uleb128 0xb
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	.uleb128 0x7
	.uleb128 0x13
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	.uleb128 0xb
	.uleb128 0xb
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	.uleb128 0x3b
	.uleb128 0xb
	.byte	0x0
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	.uleb128 0x8
	.uleb128 0xd
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x38
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x9
	.uleb128 0x17
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.byte	0x0
	.byte	0x0
	.uleb128 0xa
	.uleb128 0xd
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0xb
	.uleb128 0x16
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0xc
	.uleb128 0xd
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0xd
	.uleb128 0xb
	.uleb128 0xc
	.uleb128 0xb
	.uleb128 0x38
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0xd
	.uleb128 0x2e
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x27
	.uleb128 0xc
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x40
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0xe
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0xf
	.uleb128 0x2e
	.byte	0x0
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x27
	.uleb128 0xc
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x40
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x10
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3c
	.uleb128 0xc
	.byte	0x0
	.byte	0x0
	.uleb128 0x11
	.uleb128 0x35
	.byte	0x0
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0x12
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3c
	.uleb128 0xc
	.byte	0x0
	.byte	0x0
	.uleb128 0x13
	.uleb128 0x1
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0x14
	.uleb128 0x21
	.byte	0x0
	.byte	0x0
	.byte	0x0
	.uleb128 0x15
	.uleb128 0x21
	.byte	0x0
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x2f
	.uleb128 0xb
	.byte	0x0
	.byte	0x0
	.uleb128 0x16
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.byte	0x0
	.section	.debug_pubnames,info
	.4byte	0x208
	.2byte	0x2
	.4byte	.Ldebug_info0
	.4byte	0xa8e
	.4byte	0x5e1
	.asciz	"dead_reckon"
	.4byte	0x664
	.asciz	"integrate_loc_cm"
	.4byte	0x73e
	.asciz	"air_speed_3DIMU"
	.4byte	0x75c
	.asciz	"total_energy"
	.4byte	0x777
	.asciz	"IMUlocationx"
	.4byte	0x792
	.asciz	"IMUlocationy"
	.4byte	0x7ad
	.asciz	"IMUlocationz"
	.4byte	0x7c8
	.asciz	"IMUvelocityx"
	.4byte	0x7e3
	.asciz	"IMUvelocityy"
	.4byte	0x7fe
	.asciz	"IMUvelocityz"
	.4byte	0x829
	.asciz	"locationErrorEarth"
	.4byte	0x84a
	.asciz	"dead_reckon_clock"
	.4byte	0x86a
	.asciz	"IMUintegralAccelerationx"
	.4byte	0x891
	.asciz	"IMUintegralAccelerationy"
	.4byte	0x8b8
	.asciz	"IMUintegralAccelerationz"
	.4byte	0x8ef
	.asciz	"velocityErrorEarth"
	.4byte	0x933
	.asciz	"IMUcmx"
	.4byte	0x948
	.asciz	"IMUcmy"
	.4byte	0x95d
	.asciz	"IMUcmz"
	.4byte	0x972
	.asciz	"IMUvx"
	.4byte	0x986
	.asciz	"IMUvy"
	.4byte	0x99a
	.asciz	"IMUvz"
	.4byte	0x9ae
	.asciz	"integralAccelx"
	.4byte	0x9cb
	.asciz	"integralAccely"
	.4byte	0x9e8
	.asciz	"integralAccelz"
	.4byte	0xa15
	.asciz	"cmErrorEarth"
	.4byte	0xa40
	.asciz	"velErrorEarth"
	.4byte	0xa6f
	.asciz	"integrate_clock"
	.4byte	0x0
	.section	.debug_aranges,info
	.4byte	0x1c
	.2byte	0x2
	.4byte	.Ldebug_info0
	.byte	0x4
	.byte	0x0
	.2byte	0x0
	.2byte	0x0
	.4byte	.Ltext0
	.4byte	.Letext0-.Ltext0
	.4byte	0x0
	.4byte	0x0
	.section	.debug_str,info
.LASF0:
	.asciz	"unsigned int"

	.section __c30_signature, info, data
	.word 0x0001
	.word 0x0000
	.word 0x0000

	.set ___PA___,0
	.end
